改进PID的无人机飞行姿态角控制消颤算法

发布时间：2018-09-13 15:00

【摘要】：无人机在整个纵平面飞行过程中,由于飞行姿态角的大幅度变化以及气流的作用,导致机身颤抖,影响飞行稳定性。提出一种基于PID变结构控制的无人机飞行姿态角控制消颤算法,首先进行了无人机飞行姿态角控制系统的被控对象参量分析,构建无人机在姿态角变化剧烈、大迎角飞行时的三通道模型,采用变结构控制方法进行控制器设计。结合小扰动原理和Lyapunov稳定性原理进行扰动抑制和稳定性证明,采用梯度算法调整权值进行飞行姿态角控制的消颤处理,采用自适应算法在线调整权值实现PID变结构控制改进。仿真结果表明:采用该算法进行无人机飞行姿态角控制和消颤处理,大幅度提高无人机飞行定姿的精度,横滚角、俯仰角和航向角的控制精度有较大提高,稳定性和收敛性较好,确保了无人机飞行稳定性。
[Abstract]:During the whole longitudinal plane flight of UAV, due to the large change of attitude angle and the effect of airflow, the fuselage trembles and the flight stability is affected. A defibrillation algorithm for UAV flight attitude angle control based on PID variable structure control is proposed. Firstly, the controlled object parameters of UAV attitude angle control system are analyzed, and the attitude angle of UAV changes dramatically. The variable structure control method is used to design the controller for the three-channel model at high angle of attack. Combined with the principle of small disturbance and the principle of Lyapunov stability, the disturbance suppression and stability proof are carried out. The gradient algorithm is used to adjust the weights for the flight attitude angle control, and the adaptive algorithm is used to adjust the weights online to improve the PID variable structure control. The simulation results show that the control accuracy of UAV attitude determination, roll angle, pitch angle and heading angle is greatly improved by using the algorithm to control the UAV attitude angle and defibrillation, and the precision of UAV attitude determination is greatly improved, and the control accuracy of roll angle, pitch angle and heading angle is greatly improved. The stability and convergence of UAV are good, and the flight stability of UAV is ensured.
【作者单位】：广东工业大学华立学院;
【基金】：2015年广东省教育厅重点平台及科研项目青年创新人才类项目(自然科学类)(2015KQNCX218) 2016年广东省大学生科技创新培育项目(pdjh2016b0940)
【分类号】：V279;V249.1

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